title: Path tracking control of an omni-directional walker considering pressures from a user.
abstract: An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.
authors.forename: Renpeng
authors.initials: R
authors.lastname: Tan
authors.forename: Shuoyu
authors.initials: S
authors.lastname: Wang
authors.forename: Yinlai
authors.initials: Y
authors.lastname: Jiang
authors.forename: Kenji
authors.initials: K
authors.lastname: Ishida
authors.forename: Masakatsu G
authors.initials: MG
authors.lastname: Fujie
mesh_terms: D000328:Adult; D006233:Persons with Disabilities / Q000534:rehabilitation*; D006801:Humans; D009068:Movement; D011312:Pressure; D014853:Walkers